Using joint angles to animate a character
Yes it can be done, no I don't know any existing examples. The best I can think of is the bvh import script or the Motion Capture tools addon.

Blender's python api is available online but you may find it easier to use the autocomplete feature in the python console.

As a hint to get started -

bpy.data.objects['metarig'].pose.bones["head"].rotation_mode = 'XYZ'

bpy.data.objects['metarig'].pose.bones['head'].rotation_euler[0] = 32

bpy.data.objects['metarig'].pose.bones['head'].keyframe_insert(data_path="rotation_euler", frame = 10)


I can't say if this is the best or correct way to pose armatures by script.